halt_metadata_ep0.json

{
  "episode_idx": 0,
  "halt_reason": "v_drop_consecutive",
  "halt_step": 307,
  "advantage_threshold": -0.1,
  "v_drop_consecutive_steps": 100,
  "max_episode_steps": 800,
  "final_advantage": -0.008534371852874756,
  "final_v_value": 0.28099530935287476,
  "final_q_value": 0.2724609375,
  "halt_robot_state": {
    "eef_pos": [
      -0.024932331002943908,
      0.23577668216071854,
      0.8664439264154731
    ],
    "eef_quat": [
      0.6950652931772854,
      0.7119750884687001,
      -0.01333101453687988,
      0.0989848254621747
    ],
    "gripper_qpos": [
      0.039825278612293805,
      -0.04000505671865469
    ]
  },
  "halt_environment_state": [
    -0.06518313181097629,
    -0.016944740709827877,
    0.04576112577792735,
    -0.9948315620422363,
    -0.018293647095561028,
    0.0790301039814949,
    0.061071041971445084,
    -0.03522213435976614,
    0.1637027901829703,
    0.829982150870282,
    -9.082630791014355e-07,
    9.199074320956562e-07,
    0.7025886821926192,
    0.7115961942374116
  ]
}